#ifndef __PID_H_
#define __PID_H_

typedef unsigned short u16_t;

//定义一个pid参数结构体类型
typedef struct 
{
	u16_t Kp;
	u16_t Ki;
	u16_t Kd;
	
}pid_set_t;

/*
增量式pid相关宏定义
*/
#define  incre_pidOUTMAX  1000  //value can be modified 
#define  incre_pidOUTMIN   0    //value can be modified 
/*==============================*/
/*
增量式pid相关函数声明
*/
extern void incremental_pid_init(pid_set_t *incremental_pid_set_p);
extern float incremental_pid_control(u16_t *set_val,u16_t *get_val，pid_set_t *incremental_pid_set_p);
/*==============================*/


#endif

